search

rickstaa / realsense-ros-gazebo

Gazebo implementation of the realsense-ros repository
48 stars 9 forks source link

how to set static status? #6

Closed songhat closed 11 months ago

songhat commented 1 year ago

I am going to put the camera floated in the air, how can I do for it ?

rickstaa commented 11 months ago

@songhat I apologise for the delayed response; your inquiry inadvertently escaped my attention. I hope you've resolved your problem. However, if you find the issue continues, please let me know a solution for fixing the camera.

Within the test_d435_camera.urdf.xacro file, kindly navigate to line 11 and effect the following modification:

  <link name="base_link" />

Replace the above code snippet with the following:

  <!-- Adjustment to Fix Camera to World -->
  <link name="world"></link>
  <joint name="base_joint" type="fixed">
      <origin xyz="0 0 1.0" rpy="0 0 0"/>
      <parent link="world"/>
      <child link="base_link"/>
  </joint>

  <link name="base_link" />

This adjustment introduces a new link named world and establishes a connection between the existing base_link and this newly introduced link via the base_joint joint. I hope this resolution is helpful to you. If you need any more help, please feel free to reach out.